within ThreeD_MBS_Dynamics.Examples.Snakeboard;

model RightBar
  extends RigidBodyEnergized;
  parameter SI.Acceleration[3] Gravity;
  WrenchPort InPortJointA annotation (extent=[-50, 80; -30, 100]);
  WrenchPort InPortJointB annotation (extent=[30, 80; 50, 100]);
  annotation (Diagram);
equation
  F = m*Gravity + InPortJointA.F + InPortJointB.F;
//  F = m*Gravity + InPortJointA.F + InPortJointB.F;
  M = InPortJointA.M + InPortJointB.M + cross(InPortJointA.P - r, InPortJointA.F) + cross(InPortJointB.P - r, InPortJointB.F);
end RightBar;
